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<a href="ins__task_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#ifndef __INS_TASK_H</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#define __INS_TASK_H</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &quot;stdint.h&quot;</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#include &quot;BMI088driver.h&quot;</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#include &quot;<a class="code" href="_quaternion_e_k_f_8h.html">QuaternionEKF.h</a>&quot;</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="preprocessor">#define X 0</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="preprocessor">#define Y 1</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="preprocessor">#define Z 2</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="preprocessor">#define INS_TASK_PERIOD 1</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
<div class="foldopen" id="foldopen00028" data-start="{" data-end="};">
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="structattitude__t.html">   28</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>{</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keywordtype">float</span> Gyro[3];  <span class="comment">// 角速度</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="keywordtype">float</span> Accel[3]; <span class="comment">// 加速度</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="comment">// 还需要增加角速度数据</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keywordtype">float</span> Roll;</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <span class="keywordtype">float</span> Pitch;</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <span class="keywordtype">float</span> Yaw;</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="keywordtype">float</span> YawTotalAngle;</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>} <a class="code hl_struct" href="structattitude__t.html">attitude_t</a>; <span class="comment">// 最终解算得到的角度,以及yaw转动的总角度(方便多圈控制)</span></div>
</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
<div class="foldopen" id="foldopen00039" data-start="{" data-end="};">
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="struct_i_n_s__t.html">   39</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>{</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    <span class="keywordtype">float</span> q[4]; <span class="comment">// 四元数估计值</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="keywordtype">float</span> MotionAccel_b[3]; <span class="comment">// 机体坐标加速度</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keywordtype">float</span> MotionAccel_n[3]; <span class="comment">// 绝对系加速度</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="keywordtype">float</span> AccelLPF; <span class="comment">// 加速度低通滤波系数</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="comment">// bodyframe在绝对系的向量表示</span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <span class="keywordtype">float</span> xn[3];</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <span class="keywordtype">float</span> yn[3];</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="keywordtype">float</span> zn[3];</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="comment">// 加速度在机体系和XY两轴的夹角</span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="comment">// float atanxz;</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <span class="comment">// float atanyz;</span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="comment">// IMU量测值</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keywordtype">float</span> Gyro[3];  <span class="comment">// 角速度</span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="keywordtype">float</span> Accel[3]; <span class="comment">// 加速度</span></div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="comment">// 位姿</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keywordtype">float</span> Roll;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordtype">float</span> Pitch;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keywordtype">float</span> Yaw;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <span class="keywordtype">float</span> YawTotalAngle;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    uint8_t init;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>} <a class="code hl_struct" href="struct_i_n_s__t.html">INS_t</a>;</div>
</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span><span class="comment">/* 用于修正安装误差的参数 */</span></div>
<div class="foldopen" id="foldopen00070" data-start="{" data-end="};">
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="struct_i_m_u___param__t.html">   70</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>{</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    uint8_t flag;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="keywordtype">float</span> scale[3];</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordtype">float</span> Yaw;</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keywordtype">float</span> Pitch;</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="keywordtype">float</span> Roll;</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>} <a class="code hl_struct" href="struct_i_m_u___param__t.html">IMU_Param_t</a>;</div>
</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span><a class="code hl_struct" href="structattitude__t.html">attitude_t</a> *<a class="code hl_function" href="ins__task_8h.html#a5474fb69eaecdc5d0837dbf9790eb72c">INS_Init</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span></div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span><span class="keywordtype">void</span> <a class="code hl_function" href="ins__task_8h.html#a79b7240e8c7e0d5419282ca230c7a85e">INS_Task</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span></div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span><span class="keywordtype">void</span> <a class="code hl_function" href="ins__task_8h.html#af69cef46084fc1f1f7f41a5e48f5a7e9">QuaternionUpdate</a>(<span class="keywordtype">float</span> *q, <span class="keywordtype">float</span> gx, <span class="keywordtype">float</span> gy, <span class="keywordtype">float</span> gz, <span class="keywordtype">float</span> dt);</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span></div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span><span class="keywordtype">void</span> <a class="code hl_function" href="ins__task_8h.html#a12a2c8b057bc73a18dc7765de080bd27">QuaternionToEularAngle</a>(<span class="keywordtype">float</span> *q, <span class="keywordtype">float</span> *Yaw, <span class="keywordtype">float</span> *Pitch, <span class="keywordtype">float</span> *Roll);</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span></div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span><span class="keywordtype">void</span> <a class="code hl_function" href="ins__task_8h.html#ab9879d429b498cb40bfb7027a771d12b">EularAngleToQuaternion</a>(<span class="keywordtype">float</span> Yaw, <span class="keywordtype">float</span> Pitch, <span class="keywordtype">float</span> Roll, <span class="keywordtype">float</span> *q);</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span></div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span><span class="keywordtype">void</span> <a class="code hl_function" href="ins__task_8h.html#a151377c6cfa1152d7642d42cd7dd5d3d">BodyFrameToEarthFrame</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> *vecBF, <span class="keywordtype">float</span> *vecEF, <span class="keywordtype">float</span> *q);</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span></div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span><span class="keywordtype">void</span> <a class="code hl_function" href="ins__task_8h.html#add6f841604e6b40025533d6e58d74ac8">EarthFrameToBodyFrame</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> *vecEF, <span class="keywordtype">float</span> *vecBF, <span class="keywordtype">float</span> *q);</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="a_quaternion_e_k_f_8h_html"><div class="ttname"><a href="_quaternion_e_k_f_8h.html">QuaternionEKF.h</a></div><div class="ttdoc">attitude update with gyro bias estimate and chi-square test</div></div>
<div class="ttc" id="ains__task_8h_html_a12a2c8b057bc73a18dc7765de080bd27"><div class="ttname"><a href="ins__task_8h.html#a12a2c8b057bc73a18dc7765de080bd27">QuaternionToEularAngle</a></div><div class="ttdeci">void QuaternionToEularAngle(float *q, float *Yaw, float *Pitch, float *Roll)</div><div class="ttdoc">四元数转换成欧拉角 ZYX</div><div class="ttdef"><b>Definition</b> ins_task.c:325</div></div>
<div class="ttc" id="ains__task_8h_html_a151377c6cfa1152d7642d42cd7dd5d3d"><div class="ttname"><a href="ins__task_8h.html#a151377c6cfa1152d7642d42cd7dd5d3d">BodyFrameToEarthFrame</a></div><div class="ttdeci">void BodyFrameToEarthFrame(const float *vecBF, float *vecEF, float *q)</div><div class="ttdoc">机体系到惯性系的变换函数</div><div class="ttdef"><b>Definition</b> ins_task.c:193</div></div>
<div class="ttc" id="ains__task_8h_html_a5474fb69eaecdc5d0837dbf9790eb72c"><div class="ttname"><a href="ins__task_8h.html#a5474fb69eaecdc5d0837dbf9790eb72c">INS_Init</a></div><div class="ttdeci">attitude_t * INS_Init(void)</div><div class="ttdoc">初始化惯导解算系统</div><div class="ttdef"><b>Definition</b> ins_task.c:81</div></div>
<div class="ttc" id="ains__task_8h_html_a79b7240e8c7e0d5419282ca230c7a85e"><div class="ttname"><a href="ins__task_8h.html#a79b7240e8c7e0d5419282ca230c7a85e">INS_Task</a></div><div class="ttdeci">void INS_Task(void)</div><div class="ttdoc">此函数放入实时系统中,以1kHz频率运行 p.s. osDelay(1);</div><div class="ttdef"><b>Definition</b> ins_task.c:120</div></div>
<div class="ttc" id="ains__task_8h_html_ab9879d429b498cb40bfb7027a771d12b"><div class="ttname"><a href="ins__task_8h.html#ab9879d429b498cb40bfb7027a771d12b">EularAngleToQuaternion</a></div><div class="ttdeci">void EularAngleToQuaternion(float Yaw, float Pitch, float Roll, float *q)</div><div class="ttdoc">ZYX欧拉角转换为四元数</div><div class="ttdef"><b>Definition</b> ins_task.c:335</div></div>
<div class="ttc" id="ains__task_8h_html_add6f841604e6b40025533d6e58d74ac8"><div class="ttname"><a href="ins__task_8h.html#add6f841604e6b40025533d6e58d74ac8">EarthFrameToBodyFrame</a></div><div class="ttdeci">void EarthFrameToBodyFrame(const float *vecEF, float *vecBF, float *q)</div><div class="ttdoc">惯性系转换到机体系</div><div class="ttdef"><b>Definition</b> ins_task.c:214</div></div>
<div class="ttc" id="ains__task_8h_html_af69cef46084fc1f1f7f41a5e48f5a7e9"><div class="ttname"><a href="ins__task_8h.html#af69cef46084fc1f1f7f41a5e48f5a7e9">QuaternionUpdate</a></div><div class="ttdeci">void QuaternionUpdate(float *q, float gx, float gy, float gz, float dt)</div><div class="ttdoc">四元数更新函数,即实现dq/dt=0.5Ωq</div><div class="ttdef"><b>Definition</b> ins_task.c:306</div></div>
<div class="ttc" id="astruct_i_m_u___param__t_html"><div class="ttname"><a href="struct_i_m_u___param__t.html">IMU_Param_t</a></div><div class="ttdef"><b>Definition</b> ins_task.h:71</div></div>
<div class="ttc" id="astruct_i_n_s__t_html"><div class="ttname"><a href="struct_i_n_s__t.html">INS_t</a></div><div class="ttdef"><b>Definition</b> ins_task.h:40</div></div>
<div class="ttc" id="astructattitude__t_html"><div class="ttname"><a href="structattitude__t.html">attitude_t</a></div><div class="ttdef"><b>Definition</b> ins_task.h:29</div></div>
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